Multi-axis AC servo control system and method

ABSTRACT

A multiple axis servo control implements a multi-tasking PWM control unit to provide PWM signals for multiple axes in a single unit. A time slice mechanism provides axis selection signals based on a system clock signal to permit control parameters of the selected axis to be processed to control the selected motor drive axis. The single unit PWM control mechanism eliminates complex and costly multiple axis networks typically associated with independent servo motor controls for each axis in a multi-axis system. A single PWM unit implementation also permits the reduction of components for closed loop current control and closed loop velocity control in the multi-axis servo control system.

RELATED APPLICATION

The present application is based on and claims benefit of U.S.Provisional Application No. 60/468,278, filed May 5, 2003, to which aclaim of priority is hereby made.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to multi-axis servo drivecontrols, and relates more particularly to a system and method formulti-axis motion control through a single PWM unit.

2. Description of Related Art

A number of servo motor drive applications have specific requirementsfor multiple axes with high precision coordinated position control. Forexample, in the fields of robotics, electronic CAM and wafer handling,multiple-axis motion control provides coordinated three dimensionalposition control. Servo drive application controls are available formulti-axis motion control realized through multiple servo amplifierswith each axis unit containing an independent PWM unit, an independentclosed loop current control and an independent closed loop velocitycontrol. Each of the servo amplifiers are typically connected to anetwork system with a host that performs multi-axis coordinated positioncontrol, such as axis interpolation and other coordinated positioncontrol applications. The network system for the multi-axis control isoften complex and somewhat expensive, since a network protocol must beimplemented to permit control messages to be transmitted simultaneously,or in a synchronous communication technique to provide high speedresponse or real-time control. Due to the number of parameterscommunicated in the control messages, the communication network can beoverburdened or somewhat costly when a network with a large amount ofresources is used.

A typical AC servo drive system contains a closed loop current controland a velocity control. In a digital AC servo system, these controls aretraditionally implemented in software. Each loop control typically has adifferent update rate because the dynamics of the control objectives foreach control loop are different. For example, closed loop currentcontrol typically attempts to control motor torque indirectly bycontrolling motor phase current. The velocity control loop controlsmotor speed, typically with a feedback signal representing rotor speedfor the motor. Torque is a high dynamic parameter, with a quick responsetime when compared with motor speed. Accordingly, closed loop currentcontrol is typically operated with an update rate that is much fasterthan that of the velocity control loop. As a typical example, closedloop current control update rates are often on the order ofapproximately 100 microseconds, where closed loop velocity control ratesare typically 400 microseconds. The computation time for each of thecontrol loops should be much less than the update rate for the practicalimplementation of the closed loop current control. For example, theclosed loop current control computation time should be approximately 50microseconds or less.

Traditional servo control methods are based on a microprocessor or adigital signal processor (DSP) that do not provide multiple axis servodrive functionality. Servo control techniques typically involve the useof a pulse width modulated (PWM) signal to drive the motor inverterswitches to provide appropriate power in the windings of the motor torealize the specific servo control. However, traditional microprocessorsand DSPs are provided with a PWM unit as a piece of hardware logic thatis designed and implemented for single axis servo motor control.Accordingly, multi-axis servo control systems using traditionalmicroprocessors or DSPs are implemented with a single microprocessor orDSP for each axis of the multi-axis servo control system. That is, eachaxis of the multi-axis servo control system has a dedicated PWM unit forcontrolling the switches in the inverter drive.

Referring to FIG. 1, a diagram of a traditional multi-axis servo drivesystem 10 is illustrated. Microprocessor or DSP 11 a, 11 b and 11 ccontrol individual servo axes 15 a, 15 b and 15 c, each with an inverterdrive 16 a, 16 b and 16 c operated with a PWM unit in processor 11 a, 11b or 11 c, respectively.

A network 12 acts to coordinate operation of each of the servo axesunder the direction of a host system 13. Network 12 interfaces with eachservo axis control through a network interface 14 a, 14 b or 14 c,respectively. Host system 13 provides coordination for the various axesby delivering commands for motion control and reading feedback data todetermine parameters such as velocity and position, for example.Accordingly, the efficient operation of network 12 is important forsophisticated multi-axis servo control according to a traditionalsystem. Host system 13 typically initiates motion coordination throughnetwork 12 by providing network messages to each controlled servo axisdrive. Each servo drive, or amplifier, includes a self contained closedloop current control with PWM hardware and a velocity control. Thistraditional technique of providing a multi-axis servo control bycoordinating a number of individual servo drives, each with a PWM unit,a power converter and several feedback loops including current sensingdevices has long been used as a standard configuration for providingmulti-axis servo control.

Referring now to FIG. 2, a traditional three-phase PWM unit 20 for asingle axis servo control is illustrated in block diagram format. Unit20 provides PWM signals for a single servo axis control. PWM unit 20receives phase voltage commands for each of the phases U, V and W. Thephase voltage commands are placed in a respective register 21 a, 21 b or21 c for each phase of the servo control. Each time a phase voltagecommand is updated, it is written into a respective phase register 21a–21 c. At the beginning of a PWM cycle, the register values inregisters 21 a–21 c are loaded into a respective correspondingsynchronized secondary register 22 a–22 c. The synchronized secondaryregister values are compared against the PWM carrier frequency waveformgenerated in an up/down counter 23.

The resulting PWM waveforms from the comparison of the phase voltagecommands and the carrier frequency command is applied to a deadtimeinsertion logic block 23 a, 23 b and 23 c, for each of the respectivemotor phases. The inserted deadtime for the PWM signals is derived fromthe deadtime command also provided through a primary and secondaryregister. The output of deadtime insertion logic blocks 23 a–23 c isapplied to gate enable logic block 24, which is influenced by the PWMenable signal and the digital filter signal applied to gate enable logicblock 24. The PWM enable signal is applied through a primary andsecondary register, similar to the other servo drive commands. Thedigital filter signal is obtained from digital filter block 25, whichcontains various filter parameters and a filter state that may changewith each cycle of the digital control.

Gate enable logic 24 outputs the gate control signals for the switchesin the inverter drive of the single axis servo control, designated ashigh and low signals for each of the motor phases, to control the highand low switches supplying electrical energy to each of the motorphases. PWM unit 20 accordingly provides a PWM control based onsynchronous, digital logic and various servo drive controls providedfrom host system 13 over network 12. As shown in FIG. 1, PWM unit 20occupies a specific portion of each of processors 11 a–11 c. Otherportions of processors 11 a–11 c read sensory information from currentand position feedback sensors and close the current control loop and thevelocity control loop for the axis under the control of the particularprocessor 11 a–11 c.

It would be desirable to obtain a control for a servo drive system withmultiple axes that simplifies the interaction with the host system andthe servo axis controllers. It would also be desirable to reduce theredundancy in the multi-axis servo control system where each servo axisis provided with an independent controller.

SUMMARY OF THE INVENTION

In accordance with the present invention, there is provided a single PWMunit to control multiple axes of a servo motor drive control system. Thesystem and method of the present invention combines and consolidatesredundant hardware into a single unit and provides a multi-taskingengine to share the resources of the single unit among a number of motordrive axes. The control elements may be realized in a hardwareimplementation and provides real time servo drive operation control.

A system and method according to the present invention serves tosimplify the control system used to operate multiple axes, andconsequently simplifies communication with a host system, since the hostcommunicates with a single hardware unit rather than multiple servomotor drive controls. Accordingly, the complexity and specializedprotocols and synchronization of a real time networking system for servomotor control with multiple axes can be eliminated.

A single PWM unit provided by the present invention produces controlsfor a multi-axis servo control by permitting each resource dedicated toa particular axis to operate on a time slice of an overall systemcontrol period. A high frequency clock signal is used to drive thesingle PWM system to permit multiple axes to share the control resourceswith each axis assigned to a given time slice. Accordingly, the PWM unitprovides parameter storage for the multiple axes, and sequences througheach axis according to the selected time slice to provide theappropriate axis control.

Other features and advantages of the present invention will becomeapparent from the following description of the invention which refers tothe accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram schematic of a conventional multi-axis servocontrol configuration.

FIG. 2 is a schematic block diagram of a convention PWM unit for drivinga single axis of a multi-axis servo control system.

FIG. 3 is a schematic block diagram of a multi-axis PWM unit accordingto the present invention.

FIG. 4 is a timing diagram illustrating time slicing for multiple axiscontrol according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to FIG. 3, a block diagram of the multi-axis PWM unit 30is illustrated. PWM unit 30 provides high and low output switchingsignals for each of the phases U, V and W from a gate enable logic block32. Each of the high and low signals for each phase are delivered to amemory block that is preferably a flip-flop, generally designated inFIG. 3 as flip-flops 34. As high and low output signals for each of thedesignated motor phases are output, the signals are directed to aparticular flip-flop set determined by the selected axis. For example,when axis 1 is selected, high and low phase signals are delivered tothree flip-flop devices, one for each phase, associated with axis 1.When axis 2 is selected, the high and low signals for each phase isdelivered to three flip-flops associated with axis 2. Preferably, thereare N axes and three flip-flops associated with each axis to store thehigh and low signals for each of the three servo motor phases. The axesare preferably selected sequentially, so that axes 1−N are selected inturn to permit the associated three flip-flops to each receive a highand low signal associated with the specified motor phase in the selectedaxis control. After axis N is selected and the three flip-flops areloaded with the associated high and low signals for each of the threephases, axis 1 is selected next so that the three flip-flops associatedwith axis 1 are loaded, and so forth in a cycle sequence.

Gate enable logic 32 receives an input from a digital filter 36 that hasa particular digital filter state for each of the axes 1−N. As each axisis selected, the filter state is loaded into the digital filter toprovide the appropriate signal conditioning for the PWM signals outputfrom gate enable logic 32.

Gate enable logic also receives an input from a PWM enable circuitconsisting of a first PWM enable register 37 a and a secondary PWMenable register 37 b. Multiple PWM enable registers 37 a, 37 b areprovided, one set for each axis, to receive the specific PWM enablesignal corresponding to the desired axis. Each of the first PWM enableregisters 37 a are aligned with and correspond with each of the PWMenable secondary registers 37 b for each of the axes. Accordingly, as aPWM enable signal is synchronously transferred from the first PWM enableregister 37 a of axis 1, it is received by the PWM enable secondaryregister 37 b of axis 1. The same synchronous transfer is true of eachof the axes 1−N. Accordingly, the appropriate PWM enable secondaryregister 37 b delivers the PWM enable signal to gate enable logic 32 atthe appropriate time to permit passage of the PWM signals for the threephases of the motor for the specified axis.

Turning to the phase voltage command for each of the phases U, V and W,a primary and secondary register is provided for each of the phases,with a number of primary and secondary registers provided to match thenumber of axes in the multiple axis system. Accordingly, for phase U,primary registers U33 a are provided with a primary register U33 aassigned to each axis for the phase U voltage command. Secondaryregisters U33 b are also provided to match the number of axes in themultiple axis control. The phase U voltage command is input to theselected primary register U33 a for the selected axis, and the value ofthe selected primary register U33 a for phase U is synchronouslytransferred to secondary register U33 b for the selected axis.Accordingly, when axis 1 is selected, the phase U voltage command isapplied to the primary register U33 a associated with axis 1, while thevalue from the primary register U33 a of axis 1 is transferredsynchronously to the secondary register U33 b of axis 1. After theoperations for axis 1 are completed, axis 2 is selected and thetransfers associated with the phase U voltage command for registers U33a and U33 b are completed during the period of time that axis 2 isselected. These operations likewise occur for command transfer in phasesV and W with registers V33 a, V38 b and W33 a, W33 b, respectively.

PWM unit 30 cycles through each of the axes 1−N until each of theprimary and secondary registers U33 a, U33 b have been serviced with theappropriate phase U voltage command, at which point axis 1 is selectedand the process begins again. The same activities occur on the V and Wphases for delivering the V and W voltage commands to the associatedprimary and secondary registers V33 a, V33 b and W33 a, W33 b for eachof the selected axes. Similarly, primary and secondary registers 35 a,35 b are used to store the carrier frequency command for each of theselected axes, which is input to the up/down counter 31, which is loadedwith the particular counter state 31 s for the selected axis.

The system clock signal SYSCLK input to time slice block 39 determinesthe selection signals for axes 1−N, which are used to select the primaryand secondary registers loaded with the separate phase voltage commands,the flip-flops for receiving the PWM high and low signals for eachphase, the filter state 36 s to be loaded into digital filter 36 and allthe other parameters and registers associated with the selected axis.Because the selection signals are preferably implemented in hardware,the latency between selecting the components associated with theselected axis is reduced over the same system in software.

As with the other primary and secondary registers, a deadtime commandspecific to each axis is loaded into deadtime primary and secondaryregisters D38 a and D38 b, dependent upon the selected axis. Thedeadtimes specific to the selected axis are used in deadtime insertionlogic blocks U40, V40 and W40 to generate the high and low signals foreach of the three phases.

Gate enable logic 32 also provides an output for fault detection anddiagnostic parameters. It should be apparent that the fault signals anddiagnostic parameters delivered by gate enable logic 32 are specific tothe selected axis associated with the high and low PWM signalstransmitted by gate enable logic 32.

As discussed above, each axis is preferably selected based on a timeslice of the system clock signal SYSCLK. When a particular axis isselected by time slice block 39, the associated registers are connectedin PWM unit 30. This control mechanism is realized in hardware to speedoperation of the multi-axis control and reduce delays that wouldotherwise be associated with implementing PWM unit 30 in software.Because the system clock frequency is set at a high rate, a number ofaxes may be implemented in the time slice control mechanism.

The host system can provide phase voltage commands directly to thecontroller implementing PWM unit 30, so that no extensive multi-axisnetwork is needed. Accordingly, implementation of PWM unit 30 eliminatesthe restrictive network architecture between a host system and multipleindependent servo motor drives for independent axis control.

Because a multi-axis control can be implemented with PWM unit 30, asingle closed loop current control can be used for the multiple axes, aswell as a single velocity control loop to support multiple AC servomotor drive axes. For example, the current feedback signals from theinverter drives of each axis can be selectively read by a controllerimplementing PWM unit 30 to perform all relevant calculations for theselected axis. Likewise, a position control can be read for a selectedaxis from the associated encoder to provide velocity control for eachaxis based on the time slice multi-tasking control mechanism of thepresent invention.

As discussed above, a multiple axis servo motor controller thatimplements PWM unit 30 realizes a number of advantages over theindependent axis controllers in conventional multi-axis servo controls.Another advantage permitted by the implementation of PWM unit 30 isreduced susceptibility to noise and EMI signals, since a single controlunit can be more easily shielded and compensated for noise and EMIsignals than can a series of servo motor drive controllersinterconnected with a control network to a host computer. In addition toreducing susceptibility to noise and EMI, the controller implementingPWM unit 30 is less expensive, takes up less space, and simplifies amulti-axis control by removing redundant components and interfaces.

Referring now to FIG. 4, a timing diagram illustrating axis selectionbased on system clock signal SYSCLK timing is illustrated. In the timingdiagram of FIG. 4, each axis 1–4 is sequentially selected for a periodof the SYSCLK signal. After axes 1–4 have been sequentially selected inconsecutive system clock cycles, the cycle repeats and each axis isagain selected with the ensuing system clock signal period. When eachaxis is selected the appropriate connections are made to connect theregisters associated with that axis to the input phase voltage commands,carrier frequency command, deadtime command, PWM enable signal, up/downcounter states, digital filter states and associated PWM signalflip-flops. Preferably, the connections for each of the axis specificregisters and other devices are made during the time the axis isselected, and data transfers are carried out within the axis selectiontime frame.

Experiments carried out with a multi-axis servo controller implementingPWM unit 30 according to the present invention provide real time controlfor up to eight AC servo motor drive axes. However, it is contemplatedthat any number of practical multiple axis servo motor drive controlscan be implemented in accordance with the present invention.

Although the present invention has been described in relation toparticular embodiments thereof, many other variations and modificationsand other uses will become apparent to those skilled in the art. It ispreferred, therefore, that the present invention be limited not by thespecific disclosure herein, but only by the appended claims.

1. A PWM control unit for producing PWM signals in a multi-axis servomotor drive control, comprising: a time slice selection unit forgenerating a plurality of axis selection signals to select componentsrelated to a particular axis in the multi-axis control based on a timingoscillation signal; a plurality of storage elements coupled to the timeslice selection unit and associated with a phase signal for a motorphase, each of the storage elements being selectably coupled to theassociated phase signal based on the axis selection signals generated bythe time slice selection unit; the storage elements being operable tooutput a value upon being selected to contribute to generating a PWMcontrol output for the selected axis.
 2. The PWM control unit accordingto claim 1, further comprising a plurality of carrier storage elementsassociated with a carrier frequency command, the carrier storageelements being selectable to be coupled to the carrier frequency commandbased on the axis selection signal.
 3. The PWM control unit according toclaim 1 further comprising a counter device for influencing the PWMcontrol output, the counter device being selectively loaded with acounter state associated with the selected axis in accordance with theaxis selection signals.
 4. The PWM control unit according to claim 1,further comprising a plurality of gate signal storage elementsassociated with the motor phase, the gate signal storage elements beingselectable to be coupled to the PWM control output for the motor phasebased on the axis selection signals.
 5. The PWM control unit accordingto claim 1, further comprising: a digital filter coupled to the PWMcontrol output for influencing the PWM control output in accordance witha state of the digital filter; and a plurality of filter state elementsbeing selectable to be loaded into the digital filter based on the axisselection signals to influence the related PWM control output for theselected axis.
 6. The PWM control unit according to claim 1, furthercomprising a plurality of PWM enable storage elements associated with aPWM enable signal, the PWM enable storage elements being selectable tobe coupled to the PWM enable signal based on the axis selection signals.7. The PWM control unit according to claim 1, further comprising aplurality of deadtime storage elements associated with a deadtimecommand, the deadtime storage elements being selectable to be coupled tothe deadtime command based on the axis selection signals.
 8. A servomotor control processor for controlling multiple servo motor axes,wherein the processor incorporates the PWM unit of claim
 1. 9. A methodfor producing PWM signals in a multi-axis servo motor drive control,comprising: generating a plurality of axis selection signals forselecting components related to a particular axis in the multi-axiscontrol based on a timing oscillation signal; selectably couplingstorage elements associated with a motor phase to a motor phase commandsignal based on the axis selection signals; outputting from the storageelements a PWM control output for driving the motor phase for theselected axis.
 10. The method according to claim 9, further comprisingselectively coupling a plurality of carrier storage elements to acarrier frequency command based on the axis selection signals.
 11. Themethod according to claim 9, further comprising loading a counter devicewith a counter state on the basis of the axis selection signals; andcombining an output of the counter with the PWM control output toproduce a motor phase control signal on the basis of the axis selectionsignals.
 12. The method according to claim 9, further comprisingselectively coupling a plurality of motor phase drive command storageelements to the PWM control output for the motor phase based on the axisselection signals.
 13. The method according to claim 9, furthercomprising selectively loading a digital filter with a filter statebased on the axis selection signals.
 14. The method according to claim9, further comprising selectively coupling a plurality of PWM enablestorage elements to a PWM enable signal based on the axis selectionsignals.
 15. The method according to claim 9, further comprisingselectively coupling a plurality of deadtime storage elements to adeadtime command signal based on the axis selection signals.
 16. Amultiple axis servo motor drive control system for providingthree-dimensional position control of a moving object, comprising: ahost system for supplying multi-axis servo control commands; a processorcoupled to the host system for receiving the multi-axis servo controlcommands, the processor having a PWM control unit for producing PWMsignals on the basis of the servo motor control commands; the PWMcontrol unit being operable to provide multiple sets of PWM signals tosupply a respective set of PWM signals to a motor drive for a selectedaxis among a plurality of axes; the respective set of PWM signalsproduced by the PWM control unit for said selective axis being selectedon the basis of a time slice signal generated in conjunction with atiming oscillation signal; and wherein: the PWM control unit furthercomprises a plurality of storage elements for storing motor drivecommand signals for said plurality of motor phases of said plurality ofaxes, a respective set of storage elements for said plurality of axesbeing associated with each motor phase; and said set of storage elementsbeing selectively coupled to the motor drive command signals on thebasis of the time slice control signals.